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package com.techhighteam675.robot2012;

import edu.wpi.first.wpilibj.*;
//import edu.wpi.first.wpilibj.smartdashboard.SendablePIDController;

/**
 *
 * @author Lena
 */
class Turret {
//    TargetTracker2012 tracker;
 //   SendablePIDController thetaPID, phiPID, speedPID;
    Victor thetaVic, phiVic;
    DoubleVictor speedVic;
    Encoder thetaEnc, phiEnc;
    SpeedController speedEnc;
    Gyro gyro;
    DigitalInput thetaLimit, phiLimit;
    
    
    Turret(){
//        tracker = null; // TODO: Tracker needs to be fixed
        thetaVic = new Victor(Definitions.PAYLOAD_DIGITAL_MODULE, Definitions.THETA_VIC);
        phiVic = new Victor(Definitions.PAYLOAD_DIGITAL_MODULE, Definitions.PHI_VIC);
        speedVic = new DoubleVictor(Definitions.PAYLOAD_DIGITAL_MODULE, Definitions.SPEED_VIC_1, Definitions.PAYLOAD_DIGITAL_MODULE, Definitions.SPEED_VIC_2);
    }
    
    public void zeroPhi(){
        
    }
    
    public void thetaChangeSetpoint(double change){
        
    }
    
    public void thetaSetError(double error){
        
    }
    
    
    public void updateAutomatic(int targetPos, double phiSetpoint, double speedSetpoint){
        
    }
    
    public void updateMotorValues(double thetaMotorValue, double phiMotorValue, double speedMotorValue){
        thetaVic.set(thetaMotorValue);
        phiVic.set(phiMotorValue);
        speedVic.set(speedMotorValue);
    }
    
    public void updatePIDValues(double thetaSetpointChange, double phiSetpoint, double speedSetpoint){
        
    }
    
    public double getConfidence() {
        return 0;
    }
    
    private float getShootingRollerSpeed(float exitSpeed){
        return 0;
    }
    private float getThetaEncoderDist(float radians){
        return 0;
    }
    private float getPhiEncoderDist(float radians){
        return 0;
    }
    
}
